141 lines
5.3 KiB
Python
141 lines
5.3 KiB
Python
import numpy as np
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from frankapy import FrankaArm
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from autolab_core import RigidTransform
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class ControlUtil:
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__fa = FrankaArm(robot_num=2)
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BASE_TO_WORLD:np.ndarray = np.asarray([
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[1, 0, 0, -0.5],
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[0, 1, 0, 0],
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[0, 0, 1, -0.2],
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[0, 0, 0, 1]
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])
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CAMERA_TO_GRIPPER:np.ndarray = np.asarray([
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[1, 0, 0, 0],
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[0, 1, 0, 0],
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[0, 0, 1, 0],
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[0, 0, 0, 1]
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])
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theta = np.radians(25)
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INIT_POSE:np.ndarray = np.asarray([
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[np.cos(theta), 0, -np.sin(theta), 0],
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[0, -1, 0, 0],
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[-np.sin(theta), 0, -np.cos(theta), 0.35],
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[0, 0, 0, 1]
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])
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AXIS_THRESHOLD = (-(np.pi+5e-2)/2, (np.pi+5e-2)/2)
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@staticmethod
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def franka_reset() -> None:
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ControlUtil.__fa.reset_joints()
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@staticmethod
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def init() -> None:
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ControlUtil.set_pose(ControlUtil.INIT_POSE)
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@staticmethod
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def get_pose() -> np.ndarray:
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gripper_to_base = ControlUtil.get_curr_gripper_to_base_pose()
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cam_to_world = ControlUtil.BASE_TO_WORLD @ gripper_to_base @ ControlUtil.CAMERA_TO_GRIPPER
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return cam_to_world
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@staticmethod
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def set_pose(cam_to_world: np.ndarray) -> None:
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gripper_to_base = ControlUtil.solve_gripper_to_base(cam_to_world)
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gripper_to_base = RigidTransform(rotation=gripper_to_base[:3, :3], translation=gripper_to_base[:3, 3], from_frame="franka_tool", to_frame="world")
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ControlUtil.__fa.goto_pose(gripper_to_base, use_impedance=False, ignore_errors=False)
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@staticmethod
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def rotate_display_table(degree):
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pass
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@staticmethod
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def get_curr_gripper_to_base_pose() -> np.ndarray:
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return ControlUtil.__fa.get_pose().matrix
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@staticmethod
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def solve_gripper_to_base(cam_to_world: np.ndarray) -> np.ndarray:
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return np.linalg.inv(ControlUtil.BASE_TO_WORLD) @ cam_to_world @ np.linalg.inv(ControlUtil.CAMERA_TO_GRIPPER)
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@staticmethod
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def sovle_cam_to_world(gripper_to_base: np.ndarray) -> np.ndarray:
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return ControlUtil.BASE_TO_WORLD @ gripper_to_base @ ControlUtil.CAMERA_TO_GRIPPER
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@staticmethod
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def solve_display_table_rot_and_cam_to_world(cam_to_world: np.ndarray) -> tuple:
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gripper_to_base = ControlUtil.solve_gripper_to_base(cam_to_world)
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gripper_to_base_axis_angle = ControlUtil.get_gripper_to_base_axis_angle(gripper_to_base)
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if ControlUtil.AXIS_THRESHOLD[0] <= gripper_to_base_axis_angle <= ControlUtil.AXIS_THRESHOLD[1]:
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return 0, cam_to_world
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else:
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for display_table_rot in np.linspace(0.1,180, 1800):
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display_table_rot_z_pose = ControlUtil.get_z_axis_rot_mat(display_table_rot)
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new_cam_to_world = display_table_rot_z_pose @ cam_to_world
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if ControlUtil.AXIS_THRESHOLD[0] <= ControlUtil.get_gripper_to_base_axis_angle(new_cam_to_world) <= ControlUtil.AXIS_THRESHOLD[1]:
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return -display_table_rot, new_cam_to_world
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display_table_rot = -display_table_rot
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display_table_rot_z_pose = ControlUtil.get_z_axis_rot_mat(display_table_rot)
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new_cam_to_world = display_table_rot_z_pose @ cam_to_world
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if ControlUtil.AXIS_THRESHOLD[0] <= ControlUtil.get_gripper_to_base_axis_angle(new_cam_to_world) <= ControlUtil.AXIS_THRESHOLD[1]:
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return -display_table_rot, new_cam_to_world
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@staticmethod
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def get_z_axis_rot_mat(degree):
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radian = np.radians(degree)
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return np.array([
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[np.cos(radian), -np.sin(radian), 0, 0],
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[np.sin(radian), np.cos(radian), 0, 0],
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[0, 0, 1, 0],
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[0, 0, 0, 1]
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])
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@staticmethod
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def get_gripper_to_base_axis_angle(gripper_to_base: np.ndarray) -> bool:
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rot_mat = gripper_to_base[:3,:3]
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gripper_z_axis = rot_mat[:,2]
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base_x_axis = np.array([1,0,0])
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angle = np.arccos(np.dot(gripper_z_axis, base_x_axis))
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return angle
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@staticmethod
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def move_to(pose: np.ndarray):
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rot_degree, cam_to_world = ControlUtil.solve_display_table_rot_and_cam_to_world(pose)
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print("table rot degree:", rot_degree)
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ControlUtil.rotate_display_table(rot_degree)
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ControlUtil.set_pose(cam_to_world)
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# ----------- Debug Test -------------
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if __name__ == "__main__":
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#ControlUtil.init()
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import time
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start = time.time()
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rot_degree, cam_to_world = ControlUtil.solve_display_table_rot_and_cam_to_world(ControlUtil.INIT_POSE)
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end = time.time()
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print(f"Time: {end-start}")
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print(rot_degree, cam_to_world)
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# test_pose = np.asarray([
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# [1, 0, 0, 0.4],
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# [0, -1, 0, 0],
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# [0, 0, -1, 0.6],
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# [0, 0, 0, 1]
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# ])
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# ControlUtil.set_pose(test_pose)
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# print(ControlUtil.get_pose())
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# ControlUtil.reset()
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# print(ControlUtil.get_pose())
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angle = ControlUtil.get_gripper_to_base_axis_angle(ControlUtil.solve_gripper_to_base(cam_to_world))
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threshold = ControlUtil.AXIS_THRESHOLD
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angle_degree = np.degrees(angle)
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threshold_degree = np.degrees(threshold[0]), np.degrees(threshold[1])
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print(f"Angle: {angle_degree}, range: {threshold_degree}")
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ControlUtil.set_pose(cam_to_world) |